一种海面目标定位跟踪方法

A Method of Surface Target Location and Tracking Control

针对海面可疑目标定位跟踪问题,提出在海面部署无线传感器网络。通过已知节点与未知节点之间的位置关系,估计出未知节点的位置坐标;建立跟踪质点与目标的误差系统方程,考虑网络延时,分为理想和有海浪干扰两种情况:理想情况下,给出系统渐近稳定的条件,并通过定义李雅普诺夫函数和Schur定理进行证明,求解线性矩阵不等式,得到控制器,使系统渐近稳定;当系统存在海浪干扰时,给出H∞控制的条件,并证明此条件下,控制器可使系统渐近稳定,由此实现对目标的跟踪。数值仿真验证了所设计定位跟踪方法的有效性。

On the surface of the suspicious target tracking problem, deploy the wireless sensor network （WSN）, by the relationship of known and unknown nodes, the unknown node location coordinates can be esti- mated ; the error system of tracking node and target is established, the time delay of network has been considered. Divided into ideal and wave disturbance there are two kinds ： ideally, given the conditions of the system asymptoti- cally stable, and by defining the lyapunov function and Schur theorem to prove it, to solve the linear matrix ine- quality （LMI） and achieve the controller to make the system asymptotically stable. When the system exists the wave interference, condition of H∞ controller had been proved, the controller can realize gradual stability of the sys- tem, thus to realize target tracking. Numerical simulation verified the effectiveness of the designed controller.